Abstract:  The picking of winter jujube is the most laborintensive and timeconsuming operation. Winter jujube mechanized harvesting is a major problem in the winter jujube cultivation industry. By combing the information of fruit characteristics, abscission patterns and regularity of winter jujube, this paper expounds the existing research on relevant picking machinery including operating principles, operational characteristics and defects, and also compares and analyzes the harvesting of dried red jujube and winter jujube. It can be found that vibratory picking is the most widely used method in largescale production, which can achieve efficient harvesting with the limitations of difficult collection and high fruit damage rate; semiautomatic assisted picking equipment only works on a single fruit at a time, with limited efficiency gains; the research of plucking robots is still in initial stage, and there are difficulties such as high environmental impact on fruit identification, poor actuator execution and low efficiency. The article concludes with the idea that the combination of date picking machinery R&D and date planting management, the intelligence of date picking machinery, and the combination of independent R&D and foreign technology borrowing are the future R&D directions.

Key words:  The picking of winter jujube is the most laborintensive and timeconsuming operation. Winter jujube mechanized harvesting is a major problem in the winter jujube cultivation industry. By combing the information of fruit characteristics, abscission patterns and regularity of winter jujube, this paper expounds the existing research on relevant picking machinery including operating principles, operational characteristics and defects, and also compares and analyzes the harvesting of dried red jujube and winter jujube. It can be found that vibratory picking is the most widely used method in largescale production, which can achieve efficient harvesting with the limitations of difficult collection and high fruit damage rate, semiautomatic assisted picking equipment only works on a single fruit at a time, with limited efficiency gains, the research of plucking robots is still in initial stage, and there are difficulties such as high environmental impact on fruit identification, poor actuator execution and low efficiency. The article concludes with the idea that the combination of date picking machinery R&D and date planting management, the intelligence of date picking machinery, and the combination of independent R&D and foreign technology borrowing are the future R&D directions.

摘要： 冬枣采摘是用工量最大、用工时间最密集的作业，实现冬枣机械化采摘是冬枣种植业的一大难题。通过梳理冬枣果实特性、脱落方式及规律等信息，阐述现有相关采摘机械研究包括工作原理、作业特点、存在缺陷等方面，对比分析干果红枣采收与冬枣采收。可以发现：振动式采摘是大规模生产中应用最广泛的方式，实现高效收获，但存在收集难度大、果实损伤率高等限制；半自动辅助采摘设备每次只对单个果实作业，效率提升有限；采摘机器人的研究尚在起步阶段，存在果实识别环境影响大、执行器执行不到位、效率低等难题。最后，提出冬枣采摘机械研发与冬枣种植管理相结合、冬枣采摘机械智能化、自主研发与国外技术相互借鉴是未来的研发方向。

关键词: 冬枣, 果实特性, 冬枣脱落规律, 收获机械, 采摘技术